ATE552073T1 - MANIPULATOR WITH AN OUTDOOR MOTOR - Google Patents

MANIPULATOR WITH AN OUTDOOR MOTOR

Info

Publication number
ATE552073T1
ATE552073T1 AT09015256T AT09015256T ATE552073T1 AT E552073 T1 ATE552073 T1 AT E552073T1 AT 09015256 T AT09015256 T AT 09015256T AT 09015256 T AT09015256 T AT 09015256T AT E552073 T1 ATE552073 T1 AT E552073T1
Authority
AT
Austria
Prior art keywords
manipulator
motor
planetary
carousel
axially
Prior art date
Application number
AT09015256T
Other languages
German (de)
Inventor
Daniel Kos
Andreas Weingaertner
Gernot Nitz
Original Assignee
Kuka Roboter Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kuka Roboter Gmbh filed Critical Kuka Roboter Gmbh
Application granted granted Critical
Publication of ATE552073T1 publication Critical patent/ATE552073T1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0241—One-dimensional joints
    • B25J17/025—One-dimensional joints mounted in series
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/46—Systems consisting of a plurality of gear trains each with orbital gears, i.e. systems having three or more central gears
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20317—Robotic arm including electric motor

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Retarders (AREA)
  • Manipulator (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Transmission Devices (AREA)

Abstract

The manipulator has a carousel (1.1) and a rocker arm (1.2) movable opposite to each other, and an axle drive (2) comprising an external rotor motor (4), a position transmitter (3) and a planetary transmission (9), where the motor is designed as a disk motor. The transmission has a planetary gear set with a center gear (8-4.1). The carousel is connected to a ring gear (5) in a torque-proof manner and supported radially and/or axially by the ring gear. The rocker arm is connected with a planetary carrier (6) i.e. output cup-shaped unit, and supported radially and/or axially by the carrier.
AT09015256T 2009-01-21 2009-12-09 MANIPULATOR WITH AN OUTDOOR MOTOR ATE552073T1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102009005496A DE102009005496A1 (en) 2009-01-21 2009-01-21 Manipulator with an external rotor motor

Publications (1)

Publication Number Publication Date
ATE552073T1 true ATE552073T1 (en) 2012-04-15

Family

ID=41665013

Family Applications (1)

Application Number Title Priority Date Filing Date
AT09015256T ATE552073T1 (en) 2009-01-21 2009-12-09 MANIPULATOR WITH AN OUTDOOR MOTOR

Country Status (5)

Country Link
US (1) US8319467B2 (en)
EP (1) EP2210714B1 (en)
KR (1) KR101171810B1 (en)
AT (1) ATE552073T1 (en)
DE (1) DE102009005496A1 (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202012005741U1 (en) 2012-06-12 2013-09-13 Maxon Motor Ag High precision drive unit
US11353084B2 (en) * 2013-03-15 2022-06-07 Clearmotion Acquisition I Llc Rotary actuator driven vibration isolation
US9657516B2 (en) * 2013-03-15 2017-05-23 Springs Window Fashions, Llc Window covering motorized lift and control system gear train
CN109176595B (en) * 2018-10-19 2023-11-24 杭州宇树科技有限公司 Robot double-joint unit and footed robots and collaborative manipulators using it
CN109366479B (en) * 2018-12-18 2025-02-21 合肥工业大学 A crank-connecting rod mechanism capable of automatically adjusting length
GB201915013D0 (en) * 2019-10-17 2019-12-04 Genesis Robotics And Motion Tech Lp Actuator arrangement
WO2024186054A1 (en) * 2023-03-03 2024-09-12 주식회사 로보에테크놀로지 Robot assembly
DE102025115289B3 (en) 2025-04-17 2026-08-13 Kuka Deutschland Gmbh Robot arm with a gearbox that has at least two gearbox input elements

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2591967A (en) * 1951-04-26 1952-04-08 Lear Inc Antifriction device for planetary transmissions
DE3313167A1 (en) * 1983-04-12 1984-10-25 Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth INDUSTRIAL ROBOT WITH ELECTRIC THREE-PHASE INDIVIDUAL DRIVES
US4925312A (en) * 1988-03-21 1990-05-15 Staubli International Ag Robot control system having adaptive feedforward torque control for improved accuracy
US5144211A (en) * 1989-01-31 1992-09-01 Staubli International Ag Multiaxis robot controller having workpoint torque control
JPH0998450A (en) * 1995-09-29 1997-04-08 Oki Electric Ind Co Ltd Compact flat robot for automatic insertion and removal of connecting pins
EP1239354B1 (en) * 1997-12-06 2005-03-30 Elan Schaltelemente GmbH & Co. KG Method for monitoring a brake equipment, in particular a manipulator device, and a control and monitoring device
DE10030129A1 (en) 2000-06-20 2002-01-17 Deutsch Zentr Luft & Raumfahrt Devices for drive units of lightweight robots
US6749533B2 (en) 2002-05-24 2004-06-15 Macdonald Dettwiler, Space And Advanced Robotics Ltd. Gearbox
JP4657796B2 (en) * 2004-10-19 2011-03-23 本田技研工業株式会社 Overcurrent prevention device for legged mobile robot

Also Published As

Publication number Publication date
KR20100085870A (en) 2010-07-29
KR101171810B1 (en) 2012-08-13
DE102009005496A1 (en) 2010-07-22
US8319467B2 (en) 2012-11-27
EP2210714A1 (en) 2010-07-28
US20100180708A1 (en) 2010-07-22
EP2210714B1 (en) 2012-04-04

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